add no-numpy NED and tests

pymap3d/math/__init__.py

@@ -1,3 +1,4 @@
 from .ecef import Ellipsoid, geodetic2ecef, ecef2geodetic, ecef2enuv, ecef2enu, enu2uvw, uvw2enu, enu2ecef  # noqa: F401
 from .enu import enu2aer, aer2enu, enu2geodetic, geodetic2enu  # noqa: F401
 from .aer import aer2ecef, ecef2aer, geodetic2aer, aer2geodetic  # noqa: F401
+from .ned import aer2ned, ned2aer, ned2geodetic, ned2ecef, ecef2ned, geodetic2ned, ecef2nedv  # noqa: F401

pymap3d/math/ned.py

@@ -0,0 +1,270 @@
+""" Transforms involving NED North East Down """
+from .enu import geodetic2enu, aer2enu, enu2aer
+from .ecef import ecef2geodetic, ecef2enuv, ecef2enu, enu2ecef, Ellipsoid
+from typing import Tuple
+
+__all__ = ['aer2ned', 'ned2aer', 'ned2geodetic', 'ned2ecef', 'ecef2ned', 'geodetic2ned', 'ecef2nedv']
+
+
+def aer2ned(az: float, elev: float, slantRange: float,
+            deg: bool = True) -> Tuple[float, float, float]:
+    """
+    converts azimuth, elevation, range to target from observer to North, East, Down
+
+    Parameters
+    -----------
+
+    az : float
+         azimuth
+    elev : float
+         elevation
+    slantRange : float
+         slant range [meters]
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    """
+    e, n, u = aer2enu(az, elev, slantRange, deg=deg)
+
+    return n, e, -u
+
+
+def ned2aer(n: float, e: float, d: float,
+            deg: bool = True) -> Tuple[float, float, float]:
+    """
+    converts North, East, Down to azimuth, elevation, range
+
+    Parameters
+    ----------
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    deg : bool, optional
+        degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+
+    az : float
+         azimuth
+    elev : float
+         elevation
+    slantRange : float
+         slant range [meters]
+    """
+    return enu2aer(e, n, -d, deg=deg)
+
+
+def ned2geodetic(n: float, e: float, d: float,
+                 lat0: float, lon0: float, h0: float,
+                 ell: Ellipsoid = None, deg: bool = True) -> Tuple[float, float, float]:
+    """
+    Converts North, East, Down to target latitude, longitude, altitude
+
+    Parameters
+    ----------
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    lat0 : float
+        Observer geodetic latitude
+    lon0 : float
+        Observer geodetic longitude
+    h0 : float
+         observer altitude above geodetic ellipsoid (meters)
+    ell : Ellipsoid, optional
+          reference ellipsoid
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+
+    lat : float
+        target geodetic latitude
+    lon : float
+        target geodetic longitude
+    h : float
+        target altitude above geodetic ellipsoid (meters)
+
+    """
+    x, y, z = enu2ecef(e, n, -d, lat0, lon0, h0, ell, deg=deg)
+
+    return ecef2geodetic(x, y, z, ell, deg=deg)
+
+
+def ned2ecef(n: float, e: float, d: float,
+             lat0: float, lon0: float, h0: float,
+             ell: Ellipsoid = None, deg: bool = True) -> Tuple[float, float, float]:
+    """
+    North, East, Down to target ECEF coordinates
+
+    Parameters
+    ----------
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    lat0 : float
+        Observer geodetic latitude
+    lon0 : float
+        Observer geodetic longitude
+    h0 : float
+         observer altitude above geodetic ellipsoid (meters)
+    ell : Ellipsoid, optional
+          reference ellipsoid
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+
+    x : float
+        ECEF x coordinate (meters)
+    y : float
+        ECEF y coordinate (meters)
+    z : float
+        ECEF z coordinate (meters)
+    """
+    return enu2ecef(e, n, -d, lat0, lon0, h0, ell, deg=deg)
+
+
+def ecef2ned(x: float, y: float, z: float,
+             lat0: float, lon0: float, h0: float,
+             ell: Ellipsoid = None, deg: bool = True) -> Tuple[float, float, float]:
+    """
+    Convert ECEF x,y,z to North, East, Down
+
+    Parameters
+    ----------
+
+    x : float
+        ECEF x coordinate (meters)
+    y : float
+        ECEF y coordinate (meters)
+    z : float
+        ECEF z coordinate (meters)
+    lat0 : float
+        Observer geodetic latitude
+    lon0 : float
+        Observer geodetic longitude
+    h0 : float
+         observer altitude above geodetic ellipsoid (meters)
+    ell : Ellipsoid, optional
+          reference ellipsoid
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+
+    """
+    e, n, u = ecef2enu(x, y, z, lat0, lon0, h0, ell, deg=deg)
+
+    return n, e, -u
+
+
+def geodetic2ned(lat: float, lon: float, h: float,
+                 lat0: float, lon0: float, h0: float,
+                 ell: Ellipsoid = None, deg: bool = True) -> Tuple[float, float, float]:
+    """
+    convert latitude, longitude, altitude of target to North, East, Down from observer
+
+    Parameters
+    ----------
+
+    lat : float
+        target geodetic latitude
+    lon : float
+        target geodetic longitude
+    h : float
+        target altitude above geodetic ellipsoid (meters)
+    lat0 : float
+        Observer geodetic latitude
+    lon0 : float
+        Observer geodetic longitude
+    h0 : float
+         observer altitude above geodetic ellipsoid (meters)
+    ell : Ellipsoid, optional
+          reference ellipsoid
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+
+    Results
+    -------
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    """
+    e, n, u = geodetic2enu(lat, lon, h, lat0, lon0, h0, ell, deg=deg)
+
+    return n, e, -u
+
+
+def ecef2nedv(x: float, y: float, z: float,
+              lat0: float, lon0: float,
+              deg: bool = True) -> Tuple[float, float, float]:
+    """
+    for VECTOR between two points
+
+    Parameters
+    ----------
+    x : float
+        ECEF x coordinate (meters)
+    y : float
+        ECEF y coordinate (meters)
+    z : float
+        ECEF z coordinate (meters)
+    lat0 : float
+        Observer geodetic latitude
+    lon0 : float
+        Observer geodetic longitude
+    deg : bool, optional
+          degrees input/output  (False: radians in/out)
+
+    Results
+    -------
+
+    (Vector)
+
+    n : float
+        North NED coordinate (meters)
+    e : float
+        East NED coordinate (meters)
+    d : float
+        Down NED coordinate (meters)
+    """
+    e, n, u = ecef2enuv(x, y, z, lat0, lon0, deg=deg)
+
+    return n, e, -u

tests/test_math.py

@@ -12,6 +12,9 @@
 aer0 = (33, 70, 1000)
 raer0 = (radians(aer0[0]), radians(aer0[1]), aer0[2])
 enu0 = (186.277521, 286.842228, 939.692621)
+ned0 = (enu0[1], enu0[0], -enu0[2])
+vx, vy, vz = (5, 3, 2)
+ve, vn, vu = (5.368859646588048, 3.008520763668120, -0.352347711524077)
 
 
 def test_aer_enu():
@@ -32,5 +35,40 @@ def test_aer_enu():
     assert pm.ecef2enu(*xyz, *rlla0, deg=False) == approx(enu)
 
 
+def test_ned():
+    xyz = pm.aer2ecef(*aer0, *lla0)
+    enu = pm.aer2enu(*aer0)
+    ned = (enu[1], enu[0], -enu[2])
+    lla = pm.aer2geodetic(*aer0, *lla0)
+
+    assert pm.aer2ned(*aer0) == approx(ned0)
+
+    with pytest.raises(ValueError):
+        pm.aer2ned(aer0[0], aer0[1], -1)
+
+    assert pm.enu2aer(*enu) == approx(aer0)
+    assert pm.enu2aer(*enu, deg=False) == approx(raer0)
+
+    assert pm.ned2aer(*ned) == approx(aer0)
+
+    assert pm.ecef2ned(*xyz, *lla0) == approx(ned)
+
+    assert pm.ned2ecef(*ned, *lla0) == approx(xyz)
+# %%
+    assert pm.ecef2enuv(vx, vy, vz, *lla0[:2]) == approx((ve, vn, vu))
+
+    assert pm.ecef2nedv(vx, vy, vz, *lla0[:2]) == approx((vn, ve, -vu))
+
+# %%
+    enu3 = pm.geodetic2enu(*lla, *lla0)
+    ned3 = (enu3[1], enu3[0], -enu3[2])
+
+    assert pm.geodetic2ned(*lla, *lla0) == approx(ned3)
+
+    assert pm.enu2geodetic(*enu3, *lla0) == approx(lla)
+
+    assert pm.ned2geodetic(*ned3, *lla0) == approx(lla)
+
+
 if __name__ == '__main__':
     pytest.main([__file__])